CN113734474B - Method and system for determining outsole separation triggering conditions under multiple constraints - Google Patents
Method and system for determining outsole separation triggering conditions under multiple constraints Download PDFInfo
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Abstract
A method for determining outsole separation triggering conditions under multiple constraints comprises the following steps: after the parachute is opened, judging whether more than 3 gyro data reach the saturation condition in each control period: if not, determining delta T and T min The size of (d); if saturation is reached, then Δ T and T are determined max The size of (d); if Δ T ≧ T min Then, determine Δ V and Δ V t If Δ t is greater than<T min If so, the cycle is ended; if Δ V.gtoreq.Δ V t If so, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the control period; if Δ V<ΔV t Then, determine Δ T and T max The size of (d); if Δ T ≧ T max If the separation condition of the outsole meets the outsole separation condition, sending an outsole separation instruction, and ending the period; if Δ t<T max Then the cycle is over. The method is suitable for the conditions of large Mach number-time dispersion, large Mach number prediction uncertainty on the device and abnormally small parachute resistance performance, and ensures the shortest measurement time required by the microwave radar before the separation of the back cover.
Description
Technical Field
The invention relates to the technical field of Mars exploration and other deep space exploration, in particular to a method and a system for designing outsole separation triggering conditions under multiple constraints.
Background
The large bottom of the injector for atmospheric celestial bodies such as sparks and the like is used for bearing pneumatic deceleration overload and pneumatic heating, and the large bottom and the injector are selected to perform separation action after the parachute is opened, so that a distance measuring and speed measuring radar installed in the injector can directly measure a fire surface, and a mechanism for landing buffering is unfolded. The selection of the triggering time for outsole detachment needs to consider the security after detachment: the reliable separation of the outsole is ensured to avoid the secondary contact, and the landing buffer mechanism is normally unfolded to avoid the collision with the outsole; before the back cover is separated, enough empty time (note: interval time from outsole separation to back cover separation) is provided to ensure the microwave radar to measure data of the fire surface and ensure the initial navigation condition of the power descending section.
The big-bottom separation forward feeder is in the parachute deceleration action stage, and the parachute rope force oscillation is obvious due to the surge action of the parachute in the parachute opening initial stage; in the transonic stage, the drag coefficient of the parachute is obviously reduced. When the outsole is separated, if the Mach number is high, the angular speed of the entering device is usually high, and under the coupling action with the Martian atmospheric flow field, the risk of re-collision between the outsole and the entering device can occur after separation; along with the reduction of the Mach number, the angular velocity of the outsole is continuously reduced when the outsole is separated from the entering device, the ballistic coefficients of the outsole and the entering device are continuously reduced after separation, and short-term and long-term reliable separation of the outsole and the entering device is easily ensured. For outsole separation, most foreign mars detection tasks (pathfinder, courage/opportunity number, phoenix number, etc.) all adopt a 'time-triggered' mode, and the Mars Science Laboratory (MSL) adopts a direct 'mach number-triggered' mode for the first time. Both of these approaches have certain limitations based on the analysis.
For "time triggering", since the time spread at the same speed is larger due to the trajectory itself spread, in order to ensure the safety of bottom separation, a larger time triggering threshold value is usually set, and the subsequent microwave radar measurement time is compressed. In addition, when the flight trajectory is abnormal or the parachute performance is degraded beyond the design index, the separation of the outsole may be performed without decelerating to the target mach number, which may cause the outsole to collide with the entrances.
For Mach number triggering, certain errors exist when Mach number parameters are calculated on the device, the errors are related to navigation speed errors (mainly related to the accuracy of the initial navigation speed of the atmosphere entering the air), mars atmosphere wind speed uncertainty and sound speed uncertainty, and generally the estimated deviation of the Mach number on the device can reach more than +/-0.3. The time uncertainty caused by the method is larger, and the safety of bottom separation is more difficult to balance and the measurement time of the microwave radar is more difficult to guarantee.
Disclosure of Invention
The technical problem solved by the invention is as follows: in order to overcome the defects of the prior art, the method and the system for determining the outsole separation triggering condition are provided for preventing outsole separation collision and ensuring the vacancy time, can solve the defects based on direct Mach number triggering and time triggering, are suitable for the conditions of large Mach number-time dispersion, large estimated uncertainty of Mach numbers on a device and abnormal reduction of resistance performance of a parachute, and ensure the shortest measuring time required by a microwave radar before separation of a back cover.
The technical solution of the invention is as follows: a method for determining outsole separation triggering conditions under multiple constraints comprises the following steps:
after the parachute is opened, in each control period, whether more than 3 gyro data reach the saturation condition is judged firstly, if more than 3 gyro data do not reach the saturation, delta T and T are further judged min The size of (2):
if Δ T ≧ T min Then further judging Δ V and Δ V t The size of (2):
if Δ V.gtoreq.Δ V t If so, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the control period;
if Δ V<ΔV t Then further judge Δ T and T max The size of (2):
if Δ T ≧ T max If yes, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the period; if Δ t<T max If so, the cycle is ended;
if Δ t<T min If yes, ending the task in the period;
if more than 3 gyro data reach saturation, further judging delta T and T max The size of (c): if Δ T ≧ T max If yes, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the period; if Δ t<T max If yes, ending the task in the period;
delta t is the relative time of the relative parachute bouncing time after the parachute is opened;
T min a minimum time threshold for separation between the entrant and the outsole;
delta V is the speed increment after the umbrella is popped;
ΔV t triggering a threshold for a speed increment;
T max is the maximum time threshold of separation between the entrant and the fundus.
Gyro angular velocity measurement of omega i I =1,2,3 … with gyro range ω M When any 3 or more gyros satisfy omega i <ω M If the data of more than 3 gyros does not reach saturation; when less than 3 gyros satisfy omega i <ω M Then more than 3 gyro data are saturated.
Minimum time T for triggering separation between the feeder and the outsole min The calculation method comprises the following steps:
calculating the highest Mach number Ma meeting the requirement of large-bottom separation safety max With Ma max Taking the maximum time value of the relative parachute-bouncing time as T for the Mach number of the upper boundary to be spread by a curve set along with the time min ；
Wherein, ma max The selection principle is as follows: and (4) carrying out Monte Carlo target shooting simulation, and obtaining the maximum value of the corresponding Mach number when the combined angular speed of the pitch axis and the yaw axis of the entry device is not more than 100 DEG/s.
Speed increment trigger threshold Δ V t The calculation method comprises the following steps:
an accelerometer is arranged in the feeder, the speed increment delta V after the parachute is popped is used as a judgment condition for separating and triggering the big bottom, and the highest Mach number Ma of the parachute descending section is used max In order to stop the target, the maximum speed increment accumulated relative to the parachute shooting time is calculated by target shooting and used as a speed increment trigger threshold value delta V t ；
Wherein Δ V = | a x -a p |Δt，a x For directly measured acceleration vectors, a p An acceleration error vector brought by an inner rod arm effect, wherein delta t is the time of the umbrella bouncing time;
r p when the value is a fixed value, then:
r p a position vector of the IMU installation position corresponding to the origin of the mechanical coordinate system of the entry device;
Allowable outsole separation latest time T between the feeder and the outsole max The calculation method comprises the following steps:
firstly, calculating the shortest time Tparachute for separating the parachute from the back cover by using a dynamic model and taking pneumatic parameters, vertical wind speed, atmospheric density, atmospheric temperature, parachute opening point height, parachute opening point speed and parachute opening point flight path angle as input parameters min ；
The method comprises the following steps that pneumatic parameters are all lower limits, wherein the pneumatic parameters comprise three-axis pneumatic power coefficients of a parachute, static axial force coefficients of a cabin body, static axial force coefficients of a back cover platform assembly and static axial force coefficients of an independent platform; the vertical wind speed and the wind direction are downward, and the maximum value is taken; taking the lower limit of the atmospheric density; the atmospheric temperature is limited to the upper limit; the lower limit of the opening point height is taken; taking the upper limit of the speed of opening the parachute point; the maximum flight path angle at the parachute opening point;
then, the shortest time Tradar required by the microwave radar measurement is determined min The unfolding time of the landing buffer mechanism after outsole separation is T d After the landing buffer mechanism is unfolded, the microwave radar can start to measure the time T s Then T is max ＝Tparachute min -Tradar min -T d -T s 。
A multi-constraint outsole detachment triggering condition determination system comprises:
the first judgment module is used for judging whether more than 3 gyro data reach a saturation condition in each control period after the parachute is opened;
if more than 3 gyro data do not reach saturation, executing a second judgment module; if more than 3 gyro data reach saturation, entering a fourth judgment module;
the second judging module is used for judging delta T and T min The size of (d);
if Δ T ≧ T min Executing the third judging module if delta t<T min If so, the cycle is ended; (ii) a
Third judging moduleFor judging Δ V and Δ V t The size of (d);
if Δ V.gtoreq.Δ V t Entering an execution module; if Δ V<ΔV t If yes, executing a fourth judgment module;
the execution module is used for judging that the outsole separation condition is met and sending an outsole separation instruction, and ending the period after the outsole separation instruction is sent out;
the fourth judging module is used for judging delta T and T max The size of (d);
if Δ T ≧ T max Entering an execution module; if Δ t<T max If so, the cycle is ended;
wherein, the delta t is the relative time of the relative umbrella bouncing time after the device opens the umbrella;
T min a minimum time threshold for separation between the entrant and the outsole;
delta V is the speed increment after the umbrella is popped;
ΔV t triggering a threshold for a speed increment;
T max is the maximum time threshold of separation between the entrant and the outsole.
Compared with the prior art, the invention has the beneficial effects that:
the invention overcomes the defects of the existing 'time triggering' and 'Mach number triggering', sets the maximum and minimum triggering protection time based on the speed increment (adding a meter to measure the acceleration integral) as the criterion, so as to deal with the early triggering (causing the big bottom to collide with an entrance again after the big bottom is separated) or the delayed triggering risk caused by the larger dispersion of the autonomous navigation and parachute resistance coefficient, meet the shortest measuring time required by the microwave radar before the back cover is separated, ensure the safety of the landing task, and can be applied to the following mars and other atmospheric celestial body landing tasks.
Drawings
FIG. 1 is a schematic diagram of calculating a minimum time to trigger separation;
FIG. 2 is a flow chart of the judgment and processing on the outsole release trigger;
FIG. 3 is a block diagram of a multi-constraint outsole detachment triggering condition determination system.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
A method for determining outsole separation triggering conditions for preventing outsole separation collision and ensuring the air-remaining time is suitable for detectors with atmospheric celestial bodies entering, such as Mars landing. The method comprises the following specific processes:
due to the surge effect after the parachute opens at supersonic speed, a large angular velocity is generated for the inlet, thereby causing short-term saturation of the gyro on the inlet (note: the gyro measurement value exceeds the gyro range, and the inertial reference of the inlet cannot be obtained, and the typical case is ExoMars2016 Mars landing verification task in the European space (see "Toni Tolker Nielsen. ExoMars 2016-Schiaparelli Anomaly Inquiry, 2017")).
A method for determining outsole separation triggering conditions under multiple constraints comprises the following steps:
as shown in fig. 2, after the parachute is opened, in each control period, it is first determined whether more than 3 gyro data reach the saturation condition, and if more than 3 gyro data do not reach the saturation, Δ T and T are further determined min The size of (2):
if Δ T ≧ T min Then further judging Δ V and Δ V t The size of (2):
if Δ V.gtoreq.Δ V t If the control period is finished, judging that the outsole separation condition is met, and sending an outsole separation instruction;
if Δ V<ΔV t Then further judge Δ T and T max The size of (c):
if Δ T ≧ T max If yes, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the period; if Δ t<T max If so, the cycle is ended;
if Δ t<T min If so, the cycle is ended;
if more than 3 gyro data reach saturation, further judging delta T and T max The size of (c): if Δ T ≧ T max If yes, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the period; if Δ t<T max Then the cycle is over.
Let the gyro angular velocity measurement be omega i (i =1,2,3 …) with a gyro range of ω M (usually, the range of each gyro in the input device is the same), when 3 or more gyros omega are random i <ω M If the data of more than 3 gyros is not saturated; when less than 3 gyros ω i<ω M Then more than 3 gyro data are saturated.
a) Minimum time T for triggering separation between the feeder and the outsole min The calculating method comprises the following steps:
in order to prevent the false calculation on the device from causing the early triggering of outsole separation according to the speed increment threshold after the parachute is popped, the minimum time threshold T of outsole separation is designed min 。
The method comprises the following steps: calculating the highest Mach number Ma meeting the requirement of large-bottom separation safety max (for Mars mission, ma) max Typically 0.8) with Ma max The time maximum relative to the moment of bouncing the parachute is taken as Tmin for the upper boundary crossing the Mach number time-dispersed curve set, see FIG. 1 for details.
Ma max The selection principle is as follows: and through target shooting simulation, the maximum value of the corresponding Mach number is obtained when the combined angular speed of the pitch axis and the yaw axis of the entry device is not more than 100 degrees/s.
b) Speed increment trigger threshold DeltaV t The calculating method comprises the following steps:
the speed increment delta V after the parachute is popped is adopted (an accelerometer is arranged on an entrance device, and the acceleration vector directly measured is a x The acceleration error vector caused by the inner rod-arm effect is a p Then Δ V = | a x -a p | Δ t, Δ t is the time of the relative parachute ejection time) as the judgment condition of the outsole separation trigger. With the highest Mach number Ma of the parachute landing section max In order to stop the target, the maximum speed increment accumulated relative to the umbrella-popping moment is calculated as a speed increment trigger threshold value delta V by target shooting in consideration of the dispersion of various error items t (for Mars mission, Δ V) t Typical values range from 300m/s to 400 m/s).
Wherein, the stage from the moment when the parachute is shot by the parachute landing section to the moment when the parachute is separated from the inlet device;
r p a position vector corresponding to the origin of the mechanical coordinate system of the entry device for the IMU (gyro and accelerometer assembly) mounting position;
r p Is a fixed value, then p The following can be simplified:
c) Allowable outsole separation latest time T between the feeder and the outsole max The calculation method comprises the following steps:
in order to ensure the microwave radar measurement acquisition and the navigation time establishment after the outsole separation, an upper limit outsole separation time threshold T is designed max 。
Firstly, calculating the shortest time Tparachute of parachute-back cover separation by taking pneumatic parameters, vertical wind speed, atmospheric density, atmospheric temperature, parachute opening point height, parachute opening point speed and parachute opening point flight path angle as input parameters min (ii) a The corresponding calculated conditions are shown in table 1.
The method comprises the following steps that (1) pneumatic parameters (including a parachute triaxial pneumatic coefficient, a cabin static axial force coefficient, a back cover platform assembly static axial force coefficient and an individual platform static axial force coefficient) are all limited; the vertical wind speed and the wind direction are downward, and the maximum value is taken; taking the lower limit of the atmospheric density; the atmospheric temperature is limited to the upper limit; the lower limit of the opening point height is taken; taking the upper limit of the speed of opening the parachute point; the parachute opening point has the largest flight path angle.
TABLE 1 Tparachute min Calculating operating conditions
Then, according to the specific performance of the microwave radar, determining the shortest time Tradar required by the microwave radar to measure min The unfolding time of the landing buffer mechanism after outsole separation is T d After the landing buffer mechanism is unfolded, the microwave radar can start to measure the time T s Then T is max ＝Tparachute min -Tradar min -T d -T s (for Mars mission, tradar) min Typical values are 10s to 20s, td is 5s to 10s, and Ts is 3 s).
As shown in fig. 3, a multi-constraint outsole detachment triggering condition determining system includes:
the first judgment module is used for judging whether more than 3 gyro data reach a saturation condition in each control period after the parachute is opened;
if more than 3 gyro data do not reach saturation, executing a second judgment module; if more than 3 gyro data reach saturation, entering a fourth judgment module;
the second judging module is used for judging delta T and T min The size of (d);
if Δ T ≧ T min Executing the third judging module if delta t<T min If so, the cycle is ended; (ii) a
The third judging module is used for judging delta V and delta V t The size of (d);
if Δ V ≧ Δ V t Entering an execution module; if Δ V<ΔV t If yes, executing a fourth judgment module;
the execution module is used for judging that the outsole separation condition is met and sending an outsole separation instruction, and ending the period after the outsole separation instruction is sent out;
the fourth judging module is used for judging delta T and T max The size of (d);
if Δ T ≧ T max Entering an execution module; if Δ t<T max If so, the cycle is ended;
wherein, the delta t is the relative time of the relative umbrella bouncing time after the device opens the umbrella;
T min a minimum time threshold for separation between the entrant and the outsole;
delta V is the speed increment after the parachute is popped;
ΔV t triggering a threshold for a speed increment;
T max is the maximum time threshold of separation between the entrant and the outsole.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for determining outsole separation triggering conditions under multiple constraints is characterized by comprising the following steps:
after the parachute is opened, judging whether more than 3 gyro data reach the saturation condition in each control period:
if more than 3 gyro data do not reach saturation, determining delta T and T min The size of (2):
if Δ T ≧ T min Then, determine Δ V and Δ V t If Δ t is greater than<T min If so, the cycle is ended;
if Δ V.gtoreq.Δ V t If so, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the control period; if Δ V<ΔV t If so, determine Δ T and T max The size of (d);
if Δ T ≧ T max If yes, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the period; if Δ t<T max If so, the cycle is ended;
if more than 3 gyro data reach saturation, determining delta T and T max The size of (c): if Δ T ≧ T max If yes, judging that the outsole separation condition is met, sending an outsole separation instruction, and ending the period; if it is notΔt<T max If so, the cycle is ended;
wherein, the delta t is the relative time of the relative umbrella bouncing time after the device opens the umbrella;
T min a minimum time threshold for separation between the entrant and the outsole;
delta V is the speed increment after the umbrella is popped;
ΔV t triggering a threshold for a speed increment;
T max is the maximum time threshold of separation between the entrant and the outsole.
2. The method for determining the outsole separation triggering condition under multiple constraints as claimed in claim 1, wherein when any 3 or more gyroscopes satisfy ω i <ω M If the data of more than 3 gyros does not reach saturation; when less than 3 gyros satisfy omega i <ω M More than 3 gyro data are saturated;
wherein, ω is i As gyro angular velocity measurements, i =1,2,3 …, ω M Is the range of the gyroscope.
3. The method for determining the triggering condition of outsole detachment under multiple constraints according to claim 2, wherein the minimum time T for detachment triggering between the entrant and the outsole min The calculation method comprises the following steps:
calculating the highest Mach number Ma meeting the safety of separating the big bottom max With Ma max Taking the maximum time value of the relative parachute-bouncing time as T for the Mach number of the upper boundary to be spread by a curve set along with the time min ；
Wherein, the highest Mach number Ma max The selection principle is as follows: and (4) carrying out Monte Carlo target shooting simulation, and obtaining the maximum value of the corresponding Mach number when the combined angular speed of the pitch axis and the yaw axis of the entry device is not more than 100 DEG/s.
4. The method for determining the triggering condition of bottom separation under multiple constraints as claimed in claim 3, wherein the speed increment triggers the threshold value Δ V t The calculation method comprises the following steps:
an accelerometer is arranged in the feeder, the speed increment delta V after the parachute is popped is used as a judgment condition for separating and triggering the big bottom, and the highest Mach number Ma of the parachute descending section is used max In order to stop the target, the maximum speed increment accumulated relative to the umbrella-popping moment is calculated by target shooting and is used as a speed increment trigger threshold delta V t ；
Wherein Δ V = | a x -a p |Δt，a x For directly measured acceleration vectors, a p An acceleration error vector brought by an inner rod arm effect, wherein delta t is the time of the relative parachute bouncing time;
r p when the value is a fixed value, then:
r p a position vector of the IMU installation position corresponding to the origin of the mechanical coordinate system of the entering device is obtained;
5. The method for determining triggering condition of outsole detachment under multiple constraints as claimed in claim 4, wherein the latest time T allowed for outsole detachment between the entrant and the outsole max The calculating method comprises the following steps:
firstly, calculating the shortest time Tparachute for separating the parachute from the back cover by using a dynamic model and taking pneumatic parameters, vertical wind speed, atmospheric density, atmospheric temperature, parachute opening point height, parachute opening point speed and parachute opening point flight path angle as input parameters min ；
The method comprises the following steps that pneumatic parameters are all lower-limit, and the pneumatic parameters comprise a parachute triaxial pneumatic force coefficient, a cabin body static axial force coefficient, a back cover platform assembly static axial force coefficient and an individual platform static axial force coefficient; the vertical wind speed and the wind direction are downward, and the maximum value is taken; taking the lower limit of the atmospheric density; the atmospheric temperature is limited to the upper limit; the lower limit of the opening point height is taken; taking the upper limit of the speed of opening the parachute point; the maximum flight path angle of the parachute opening point;
then, the shortest time Tradar required by the microwave radar measurement is determined min The unfolding time of the landing buffer mechanism after outsole separation is T d After the landing buffer mechanism is unfolded, the microwave radar can start to measure the time T s Then T is max ＝Tparachute min -Tradar min -T d -T s 。
6. A multi-constraint outsole detachment triggering condition determination system is characterized by comprising:
the first judgment module is used for judging whether more than 3 gyro data reach a saturation condition in each control period after the parachute is opened;
if more than 3 gyro data do not reach saturation, executing a second judgment module; if more than 3 gyro data reach saturation, entering a fourth judgment module;
the second judging module is used for judging delta T and T min The size of (d);
if Δ T ≧ T min Executing a third judging module if delta t<T min If so, the cycle is ended; (ii) a
The third judging module is used for judging delta V and delta V t The size of (d);
if Δ V.gtoreq.Δ V t Entering an execution module; if Δ V<ΔV t If yes, executing a fourth judgment module;
the execution module is used for judging that the outsole separation condition is met and sending an outsole separation instruction, and ending the period after the outsole separation instruction is sent out;
the fourth judging module is used for judging delta T and T max The size of (d);
if Δ T ≧ T max Entering an execution module; if Δ t<T max If so, ending the period;
wherein, the delta t is relative time of the relative parachute bouncing time after the parachute enters the device and is opened;
T min to minimize separation between the intake and the outsoleA time threshold;
delta V is the speed increment after the umbrella is popped;
ΔV t triggering a threshold for a speed increment;
T max is the maximum time threshold of separation between the entrant and the fundus.
7. The system for determining the triggering condition of bottom-sole separation under multiple constraints of claim 6, wherein when any 3 or more gyroscopes satisfy ω i <ω M If the data of more than 3 gyros does not reach saturation; when less than 3 gyros satisfy omega i <ω M More than 3 gyro data are saturated;
wherein, ω is i For gyro angular velocity measurements, i =1,2,3 …, ω M Is the range of the gyroscope.
8. The system for determining the triggering condition of separation of outsole under multiple constraints as recited in claim 7, wherein the minimum time T for the separation triggering between the entrant and the outsole min The calculating method comprises the following steps:
calculating the highest Mach number Ma meeting the safety of separating the big bottom max With Ma max Taking the maximum time value of the relative parachute-bouncing time as T for the Mach number of the upper boundary to be spread by a curve set along with the time min ；
Wherein, the highest Mach number Ma max The selection principle is as follows: and through Monte Carlo target shooting simulation, the maximum value of the corresponding Mach number is obtained when the combined angular speed of the pitch axis and the yaw axis of the entry device is not more than 100 degrees/s.
9. The system for determining the triggering condition of lower sole separation under multiple constraints according to claim 8, wherein the speed increment triggering threshold Δ ν t The calculation method comprises the following steps:
an accelerometer is arranged in the feeder, the speed increment delta V after the parachute is popped is used as a judgment condition for separating and triggering the big bottom, and the highest Mach number Ma of the parachute descending section is used max For stopping the target, the target shooting calculates the accumulated maximum speed increment relative to the umbrella ejection time asSpeed increment trigger threshold Δ V t ；
Wherein Δ V = | a x -a p |Δt，a x For directly measured acceleration vectors, a p An acceleration error vector brought by an inner rod arm effect, wherein delta t is the time of the umbrella bouncing time;
r p when the value is a fixed value, then:
r p a position vector of the IMU installation position corresponding to the origin of the mechanical coordinate system of the entering device is obtained;
10. The system for determining triggering condition of outsole detachment under multiple constraints of claim 9, wherein the latest time T allowed for outsole detachment between the entrant and the outsole max The calculation method comprises the following steps:
firstly, calculating the shortest time Tparachute for separating the parachute from the back cover by using a dynamic model and taking pneumatic parameters, vertical wind speed, atmospheric density, atmospheric temperature, parachute opening point height, parachute opening point speed and parachute opening point flight path angle as input parameters min ；
The method comprises the following steps that pneumatic parameters are all lower limits, wherein the pneumatic parameters comprise three-axis pneumatic power coefficients of a parachute, static axial force coefficients of a cabin body, static axial force coefficients of a back cover platform assembly and static axial force coefficients of an independent platform; the vertical wind speed and the wind direction are downward, and the maximum value is taken; taking the lower limit of the atmospheric density; the atmospheric temperature is limited to the upper limit; the lower limit of the opening point height is taken; taking the upper limit of the speed of opening the parachute point; the maximum flight path angle at the parachute opening point;
then, the shortest time Tradar required by the microwave radar measurement is determined min The unfolding time of the landing buffer mechanism after the outsole separation isT d After the landing buffer mechanism is unfolded, the microwave radar can start to measure the time T s Then T is max ＝Tparachute min -Tradar min -T d -T s 。
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| US7150097B2 (en) * | 2003-06-13 | 2006-12-19 | Sherwood Services Ag | Method of manufacturing jaw assembly for vessel sealer and divider |
| CN104635488B (en) * | 2014-12-12 | 2017-07-14 | 北京理工大学 | A kind of martian atmosphere approach section Robust Prediction method of guidance |
| CN104590566B (en) * | 2015-01-27 | 2016-08-17 | 北京空间机电研究所 | A kind of parachute working condition automatic checkout system and detection method thereof |
| CN105115512B (en) * | 2015-09-23 | 2017-10-10 | 北京理工大学 | A kind of martian atmosphere approach section laterally predicts correction method of guidance |
| CN105366059A (en) * | 2015-12-09 | 2016-03-02 | 深圳飞马机器人科技有限公司 | Fixed-point parachuting method of fixed-wing unmanned aerial vehicle |
| CN106494651A (en) * | 2016-11-21 | 2017-03-15 | 上海航天控制技术研究所 | A kind of non-firer's separator of low impact |
| CN107323691B (en) * | 2017-07-04 | 2020-01-07 | 北京理工大学 | Multi-constraint Mars atmosphere entry prediction guidance method |
| CN108534785B (en) * | 2018-03-22 | 2019-10-22 | 北京控制工程研究所 | A kind of atmosphere enters guided trajectory Adaptive Planning method |
| CN112249365B (en) * | 2020-10-29 | 2022-09-06 | 北京空间飞行器总体设计部 | Reusable spacecraft |
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